A method for calculating guidance points for coordinated illumination of unmanned fixed-wing aircraft

Abstract

The present invention relates to a method for solving unmanned fixed-wing collaborative illumination guidance points, and belongs to the field of airborne fire control technology. The method comprises the following steps: obtaining the longitude and latitude of an attack aircraft, an irradiating aircraft, and a target; calculating the distance between the irradiating aircraft and the target based on the longitude and latitude of the irradiating aircraft and the target; calculating the distance between the irradiating aircraft and the attacking aircraft based on the longitude and latitude of the irradiating aircraft and the attacking aircraft; calculating the distance between the attacking aircraft and the target based on the longitude and latitude of the attacking aircraft and the target; calculating the auxiliary angle based on the distance between the irradiating aircraft and the target, the distance between the irradiating aircraft and the attacking aircraft, and the distance between the attacking aircraft and the target; obtaining the farthest illumination distance of the irradiating aircraft, and calculating the distance between the auxiliary point and the target point based on the farthest illumination distance of the irradiating aircraft; comparing the auxiliary angle with , determining the range to which the auxiliary angle belongs, and using a calculation formula within the range to calculate the azimuth angle of the guidance point and the distance between the guidance point and the target point. The present invention is used to solve unmanned fixed-wing collaborative illumination guidance points, providing a basis for subsequent precision guidance.

Description

Technical Field

[0001] The present invention belongs to the technical field of airborne fire control, and in particular relates to a method for solving unmanned fixed-wing collaborative illumination guidance points. Background Art

[0002] Helicopter-UAV coordinated operations are a typical application of future helicopter warfare. In coordinated ground strike operations, manned aircraft can use real-time mission planning to guide UAVs and helicopters to jointly complete reconnaissance, detection, identification, positioning, and attack missions against enemy targets.

[0003] In a typical combat scenario involving the use of laser missiles to strike ground targets, a drone is required to continuously illuminate the target during the laser missile attack to guide the missile to complete the final strike. The laser spot irradiated on the target should be captured by the laser missile as much as possible. Since both the angle and distance of illumination affect the capture effect, and the nature of fixed-wing hovering flight also requires that illumination requirements be met in all directions of the hover, it is necessary to select appropriate illumination guidance points. Summary of the Invention

[0004] The technical problems to be solved by the present invention are:

[0005] In order to avoid the shortcomings of the existing technology, the present invention provides a method for solving the collaborative illumination guidance point of an unmanned fixed-wing aircraft, which is used to solve the collaborative illumination guidance point of an unmanned fixed-wing aircraft and provide a basis for subsequent precise guidance.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A method for calculating guidance points for coordinated illumination of unmanned fixed-wing aircraft, comprising:

[0008] Obtain the longitude and latitude of the attacking aircraft, the current longitude and latitude of the irradiating aircraft, and the longitude and latitude of the target;

[0009] Calculate the distance between the irradiator and the target based on the current longitude and latitude of the irradiator and the longitude and latitude of the target;

[0010] Calculate the distance between the irradiator and the attacking aircraft based on the current longitude and latitude of the irradiator and the longitude and latitude of the attacking aircraft;

[0011] Calculate the distance between the attack aircraft and the target based on the longitude and latitude of the attack aircraft and the longitude and latitude of the target;

[0012] Calculate the auxiliary angle based on the distance between the irradiator and the target, the distance between the irradiator and the attacking aircraft, and the distance between the attacking aircraft and the target;

[0013] Obtain the farthest irradiation distance of the irradiator, and calculate the distance between the auxiliary point and the target point based on the farthest irradiation distance of the irradiator;

[0014] The auxiliary angle and Compare and determine the range of the auxiliary angle, and use the calculation formula within this range to calculate the azimuth of the guide point and the distance between the guide point and the target point.

[0015] A further technical solution of the present invention is as follows: the distance between the irradiator and the target is calculated based on the current longitude and latitude of the irradiator and the longitude and latitude of the target, specifically:

[0016] R1=6371.393acos(cos(lat i )cos(lat t )cos(lon i -lon t )+sin(lat i )sin(lat t ))

[0017] Among them, lon t ,lat t is the longitude and latitude of the target, lon i ,lat i The current longitude and latitude of the irradiator.

[0018] A further technical solution of the present invention is to calculate the distance between the irradiator and the attacking aircraft based on the current longitude and latitude of the irradiator and the longitude and latitude of the attacking aircraft, specifically:

[0019] R2=6371.393acos(cos(lat f )cos(lat i )cos(lon f -lon i )+sin(lat f )sin(lat i ))

[0020] Among them, lon f ,lat f is the longitude and latitude of the attack aircraft.

[0021] A further technical solution of the present invention is to calculate the distance between the attacking aircraft and the target based on the longitude and latitude of the attacking aircraft and the longitude and latitude of the target, specifically:

[0022] R3=6371.393acos(cos(lat f )cos(lat t )cos(lon f -lon t )+sin(lat f )sin(lat t)).

[0023] A further technical solution of the present invention is to calculate the auxiliary angle according to the distance between the irradiator and the target, the distance between the irradiator and the attacking aircraft, and the distance between the attacking aircraft and the target, specifically:

[0024]

[0025] A further technical solution of the present invention is to calculate the distance between the auxiliary point and the target point according to the farthest irradiation distance of the irradiator, specifically:

[0026]

[0027] Among them, R max is the maximum irradiation distance of the irradiator, R d is the distance between the auxiliary point and the target point.

[0028] A further technical solution of the present invention is: the calculation formula within the range is used to calculate the azimuth of the guide point and the distance between the guide point and the target point, specifically:

[0029] if but

[0030]

[0031] if but

[0032] R e =R d -R i

[0033]

[0034] in, is the azimuth of the pilot point, R e is the distance between the guide point and the target point, R i is the circling radius of the irradiator.

[0035] A computer system, characterized in that it includes: one or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned method.

[0036] A computer-readable storage medium is characterized by storing computer-executable instructions, which are used to implement the above method when executed.

[0037] A computer program product, characterized by comprising computer executable instructions, wherein the instructions are used to implement the above method when executed.

[0038] The beneficial effects of the present invention are:

[0039] The present invention provides a method for calculating unmanned fixed-wing collaborative illumination guidance points. The fixed-wing collaborative illumination guidance points calculated according to this method can quickly guide the fixed-wing UAV to the illumination area, so as to ensure that the unmanned fixed-wing illumination aircraft can provide guidance information for the laser-guided weapons launched by the attack aircraft in real time and continuously during the hovering process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like parts throughout the drawings.

[0041] Figure 1 Flowchart of the unmanned fixed-wing collaborative illumination guidance point calculation method provided by the present invention. DETAILED DESCRIPTION

[0042] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0043] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] The present invention provides a method for calculating the guidance points of unmanned rotor cooperative illumination. Figure 1 As shown, the following steps are included:

[0045] Step 1: Information Acquisition

[0046] The ground mission planning system obtains the longitude lon of the attack aircraft through the loaded mission data f , latitude lat f , the longitude of the target lon t , latitude latt , the current longitude of the irradiator lon i , latitude lat i , the maximum irradiation distance R is obtained by the laser irradiation guide device max , the circling radius R is obtained by the irradiation machine i ;

[0047] Step 2: Establish coordinate system O t

[0048] A rectangular coordinate system is established with point O, the projection of the target position on the horizontal plane, as the origin. The line connecting the target and the attack aircraft is projected on the horizontal plane as the X-axis, and the direction of the Y-axis is determined by the right-hand rule.

[0049] Step 3: Calculate the auxiliary angle Use formula (1) to calculate the distance R1 between the irradiator and the target

[0050] R1=6371.393acos(cos(lat i )cos(lat t )cos(lon i -lon t )+sin(lat i )sin(lat t ))(1)

[0051] Use formula (2) to calculate the distance R2 between the irradiation machine and the attacking machine

[0052] R2=6371.393acos(cos(lat f )cos(lat i )cos(lon f -lon i )+sin(lat f )sin(lat i ))(2)

[0053] Use formula (3) to calculate the distance R3 between the attack aircraft and the target

[0054] R3=6371.393acos(cos(lat f )cos(lat t )cos(lon f -lon t )+sin(lat f )sin(lat t ))(3)

[0055] Use formula (4) to calculate the auxiliary angle

[0056]

[0057] lon f — longitude of the attack aircraft, in rad;

[0058] lat f —Latitude of the attack aircraft, in rad;

[0059] lon t —Target longitude, in rad;

[0060] lat t —Target latitude, in rad;

[0061] lon i —Longitude of the irradiator, in rad;

[0062] lat i —Latitude of the irradiator, in rad;

[0063] Step 4: Calculate the distance R between the auxiliary point D and the target point d

[0064] Calculate R using formula (5) d

[0065]

[0066] R max —The maximum irradiation distance, in meters;

[0067] Step 5: Calculate the azimuth of the guide point E Distance to target R e

[0068] Calculate κ using formula (6)

[0069]

[0070] if but

[0071]

[0072] if but

[0073] R e =R d -R i (9)

[0074]

[0075] Example 1

[0076] Step 1: Information Acquisition

[0077] The ground mission planning system obtains the longitude lon of the carrier aircraft through the loaded mission data f , latitude lat f , the longitude of the target lon t , latitude lat t , the current longitude of the irradiator lon i , latitude lat i , the maximum irradiation distance R is obtained by the laser irradiation guide device max , the circling radius R is obtained by the irradiation machine i ;

[0078] In this embodiment:

[0079] The ground mission planning system obtains the longitude of the carrier aircraft 111.9° and latitude 33.8°, the longitude of the target 112° and latitude 34°, and the current longitude of the irradiator 111.95° and latitude 34.1° through the loaded mission data. The maximum irradiation distance of 10,000m is obtained through the laser irradiation guidance device, and the hovering radius of 500m is obtained through the irradiator.

[0080] Step 2: Establish coordinate system O t

[0081] A rectangular coordinate system is established with point O, the projection of the target position on the horizontal plane, as the origin. The line connecting the target and the attack aircraft is projected on the horizontal plane as the X-axis, and the direction of the Y-axis is determined by the right-hand rule.

[0082] Step 3: Calculate the auxiliary angle

[0083] Use formula (1) to calculate the distance R1 between the irradiator and the target

[0084] R1=6371.393acos(cos(lat i )cos(lat t )cos(lon i -lon t )+sin(lat i )sin(lat t ))(1)

[0085] Use formula (2) to calculate the distance R2 between the irradiation machine and the attacking machine

[0086] R2=6371.393acos(cos(lat f )cos(lat i )cos(lon f -lon i )+sin(lat f )sin(lat i))(2)

[0087] Use formula (3) to calculate the distance R3 between the attacking aircraft and the target aircraft

[0088] R3=6371.393acos(cos(lat f )cos(lat t )cos(lon f -lon t )+sin(lat f )sin(lat t ))(3)

[0089] Use formula (4) to calculate the auxiliary angle

[0090]

[0091] lon f — longitude of the attack aircraft, in rad;

[0092] lat f —Latitude of the attack aircraft, in rad;

[0093] lon t —Target longitude, in rad;

[0094] lat t —Target latitude, in rad;

[0095] lon i —Longitude of the irradiator, in rad;

[0096] lat i —Latitude of the irradiator, in rad;

[0097] In this embodiment:

[0098] R1=6371.393acos(cos(34.2)cos(34)cos(111.6-112)+sin(34.2)sin(34))=43021.59(m)

[0099] R2=6371.393acos(cos(33.95)cos(34.2)cos(111.7-111.6)+sin(33.95)sin(34.2))=29282.73(m)

[0100] R3=6371.393acos(cos(33.95)cos(34)cos(111.7-112)+sin(33.95)sin(34))=28215.44(m)

[0101]

[0102] Step 4: Calculate the distance R between the auxiliary point D and the target point d

[0103] Calculate R using formula (5) d

[0104]

[0105] In this embodiment:

[0106]

[0107] Step 5: Calculate the azimuth between the guidance point E and the target and distance R e

[0108] Calculate κ using formula (6)

[0109]

[0110] if but

[0111]

[0112] if but

[0113] R e =R d -R i (9)

[0114]

[0115] In this embodiment:

[0116]

[0117] because: so

[0118] R e =R d -R i =9075.65-500=8575.65(m)

[0119] Because: 113.1>111.6, so

[0120]

[0121] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present invention, and these modifications or replacements should all be included in the scope of protection of the present invention.

Claims

1. A method for calculating guidance points for coordinated illumination of unmanned fixed-wing aircraft, characterized in that: include: Obtain the longitude and latitude of the attacking aircraft, the current longitude and latitude of the irradiating aircraft, and the longitude and latitude of the target; Calculate the distance between the irradiator and the target based on the current longitude and latitude of the irradiator and the longitude and latitude of the target; Calculate the distance between the irradiator and the attacking aircraft based on the current longitude and latitude of the irradiator and the longitude and latitude of the attacking aircraft; Calculate the distance between the attack aircraft and the target based on the longitude and latitude of the attack aircraft and the longitude and latitude of the target; Calculate the auxiliary angle based on the distance between the irradiator and the target, the distance between the irradiator and the attacking aircraft, and the distance between the attacking aircraft and the target; Obtain the farthest irradiation distance of the irradiator, and calculate the distance between the auxiliary point and the target point based on the farthest irradiation distance of the irradiator; The auxiliary angle and Compare and determine the range of the auxiliary angle, and use the calculation formula within this range to calculate the azimuth of the guide point and the distance between the guide point and the target point.

2. The method for calculating guidance points for coordinated illumination of unmanned fixed-wing aircraft according to claim 1, characterized in that: The distance between the irradiator and the target is calculated based on the current longitude and latitude of the irradiator and the longitude and latitude of the target, specifically: in, 、 are the longitude and latitude of the target, 、 The current longitude and latitude of the irradiator.

3. The method for calculating guidance points for coordinated illumination of unmanned fixed-wing aircraft according to claim 2, characterized in that: Calculate the distance between the irradiator and the attacking aircraft based on the current longitude and latitude of the irradiator and the longitude and latitude of the attacking aircraft. Specifically: in, 、 is the longitude and latitude of the attack aircraft.

4. The method for calculating guidance points for coordinated illumination of unmanned fixed-wing aircraft according to claim 3, characterized in that: The distance between the attacking aircraft and the target is calculated based on the longitude and latitude of the attacking aircraft and the longitude and latitude of the target. Specifically: 。 5. The method for calculating guidance points for coordinated illumination of unmanned fixed-wing aircraft according to claim 4, characterized in that: The auxiliary angle is calculated based on the distance between the irradiator and the target, the distance between the irradiator and the attacking aircraft, and the distance between the attacking aircraft and the target. Specifically: 。 6. The method for calculating guidance points for coordinated illumination of unmanned fixed-wing aircraft according to claim 5, characterized in that: Calculate the distance between the auxiliary point and the target point based on the farthest irradiation distance of the irradiator, specifically: in, is the farthest irradiation distance of the irradiator, is the distance between the auxiliary point and the target point.

7. The method for calculating guidance points for coordinated illumination of unmanned fixed-wing aircraft according to claim 6, characterized in that: The calculation formula within this range is used to calculate the azimuth of the guide point and the distance between the guide point and the target point, specifically: If φ≥ ,but If φ< ,but in, is the azimuth of the pilot point, is the distance between the guide point and the target point, is the circling radius of the irradiator.

8. A computer system, characterized in that include: One or more processors, and a computer-readable storage medium for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are enabled to implement the method of claim 1.

9. A computer-readable storage medium, characterized in that Computer-executable instructions are stored, and when the instructions are executed, they are used to implement the method of claim 1.

10. A computer program product, characterized in that The invention comprises computer executable instructions, which are used to implement the method of claim 1 when the instructions are executed.

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